CN110630570A - Multi-degree-of-freedom hydraulic damping system - Google Patents
Multi-degree-of-freedom hydraulic damping system Download PDFInfo
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- CN110630570A CN110630570A CN201910850048.4A CN201910850048A CN110630570A CN 110630570 A CN110630570 A CN 110630570A CN 201910850048 A CN201910850048 A CN 201910850048A CN 110630570 A CN110630570 A CN 110630570A
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- 238000013016 damping Methods 0.000 title claims abstract description 164
- 239000007788 liquid Substances 0.000 claims abstract description 30
- 230000001502 supplementing effect Effects 0.000 claims description 25
- 239000003921 oil Substances 0.000 description 23
- 238000001228 spectrum Methods 0.000 description 5
- 230000002265 prevention Effects 0.000 description 3
- 239000013589 supplement Substances 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000872 buffer Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000839 emulsion Substances 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/44—Means on or in the damper for manual or non-automatic adjustment; such means combined with temperature correction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2222/00—Special physical effects, e.g. nature of damping effects
- F16F2222/12—Fluid damping
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2224/00—Materials; Material properties
- F16F2224/04—Fluids
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2228/00—Functional characteristics, e.g. variability, frequency-dependence
- F16F2228/06—Stiffness
- F16F2228/066—Variable stiffness
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
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- Fluid Mechanics (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a multi-degree-of-freedom hydraulic damping system which mainly comprises a hydraulic pump and the like, wherein the hydraulic pump is connected with an outlet overflow valve, a one-dimensional adjustable damping module, a two-dimensional adjustable damping module and a liquid-filled electromagnetic directional valve, the liquid-filled electromagnetic directional valve is connected with a liquid-filled pressure reducing valve, an energy accumulator pressure reducing valve and an energy accumulator safety valve, the energy accumulator pressure reducing valve is connected with a two-position two-way hydraulic control directional valve, the two-position two-way hydraulic control directional valve is connected with a heavy-load shuttle valve, the one-dimensional adjustable damping module and the two-dimensional adjustable damping module, the heavy-load shuttle valve is connected with the one-dimensional adjustable damping module, the two. The hydraulic damping system with variable and expandable damping, recyclable use and high load adaptability can flexibly adjust the starting position of the hydraulic actuator entering the damping state according to the requirement.
Description
Technical Field
The invention relates to the field of hydraulic systems, in particular to a multi-degree-of-freedom hydraulic damping system.
Background
The hydraulic system has large power-weight ratio, the power output or power absorption of the hydraulic device in unit weight is larger than that of other transmission systems, and hydraulic working media (such as petroleum-based hydraulic oil, emulsion and the like) have stable properties, small compressibility and large elastic modulus, are very suitable for constructing various damping systems, and are widely applied in the fields of high-speed object interception, hydraulic elevators, various buffers and the like.
The hydraulic damping system has the working characteristics of stable damping characteristic, large energy absorption, light weight, small volume and the like. After the composition, the structure and the parameters of a general hydraulic damping system are determined, the damping characteristic of the general hydraulic damping system is fixed, the general hydraulic damping system does not have the extensible capability, the damping effect can be formed only on a certain specific motion freedom degree, and the load application range is narrow, so that the heavy-load damping system has no damping effect on light load, and the light-load damping system cannot work under the heavy-load working condition. How to design a damping system with variable damping characteristics, how to realize an expandable damping system to adapt to multi-degree-of-freedom motion, and how to expand the load adaptation range of a hydraulic damping system are common technical problems faced by engineering designers.
At present, a hydraulic damping system generally adopts a mode that single or a plurality of fixed dampers are connected in series or in parallel to form a damping circuit, the damping characteristics of the damping circuit are fixed, and the load adaptation range is also limited in a certain load range after the damping structure and parameters are determined. In general, a conventional damping system is integrated in a hydraulic system circuit for limiting a motion with a certain degree of freedom, and is not expandable, and even if the damping system is expanded by duplicating the same damping circuit, there is no correlation between the circuits. The load power spectrum (load force and load speed) of the existing hydraulic damping system is narrow, and generally has a specific application range, for example, the high-speed heavy-load damping system is only suitable for a high-power system, and the design for expanding the load power spectrum is not considered in the existing damping system.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a multi-degree-of-freedom hydraulic damping system.
The purpose of the invention is achieved by the following technical scheme: the multi-degree-of-freedom hydraulic damping system mainly comprises a hydraulic pump, an outlet overflow valve, a three-position four-way hydraulic control reversing valve, a heavy-duty shuttle valve, a two-position two-way hydraulic control reversing valve, a liquid-filled electromagnetic reversing valve, an accumulator safety valve, an accumulator pressure reducing valve, a liquid-filled pressure reducing valve, a one-dimensional adjustable damping module, a two-dimensional adjustable damping module, a hydraulic cylinder, an accumulator and a hydraulic motor, wherein the hydraulic pump is connected with the outlet overflow valve, the one-dimensional adjustable damping module, the two-dimensional adjustable damping module and the liquid-filled electromagnetic reversing valve, the liquid-filled electromagnetic reversing valve is connected with the liquid-filled pressure reducing valve, the accumulator pressure reducing valve and the accumulator safety valve, the accumulator pressure reducing valve is connected with the two-position two-way hydraulic, The two-dimensional adjustable damping module is connected with the three-position four-way hydraulic control reversing valve, the three-position four-way hydraulic control reversing valve is connected with the one-dimensional adjustable damping module and the two-dimensional adjustable damping module, the hydraulic cylinder is connected with the one-dimensional adjustable damping module, and the hydraulic motor is connected with the two-dimensional adjustable damping module.
The one-dimensional adjustable damping module mainly comprises a one-dimensional first electromagnetic directional valve, a one-dimensional first one-way throttle valve, a one-dimensional second one-way throttle valve, a one-dimensional third one-way throttle valve, a one-dimensional fourth one-way throttle valve, a one-dimensional second electromagnetic directional valve, a one-dimensional third electromagnetic directional valve, a one-dimensional back pressure valve, a one-dimensional shuttle valve, a one-dimensional fourth electromagnetic directional valve, a one-dimensional hydraulic control one-way valve, a one-dimensional overflow valve, a one-dimensional first oil supplementing one-way valve, a one-dimensional second oil supplementing one-way valve, a one-dimensional hydraulic control directional valve, a one-dimensional first safety valve, a one-dimensional second safety valve, a one-dimensional three-position four-way directional valve and a one-dimensional fifth electromagnetic directional valve, wherein the one-dimensional first electromagnetic directional valve is connected with the one-dimensional first one-way throttle valve, the one-dimensional second one, the one-dimensional third electromagnetic directional valve is connected with the one-dimensional first one-way throttle valve, the one-dimensional second one-way throttle valve, the one-dimensional third one-way throttle valve, the one-dimensional fourth one-way throttle valve and the one-dimensional back pressure valve, the one-dimensional shuttle valve is connected with the one-dimensional fourth electromagnetic directional valve and the one-dimensional hydraulic control one-way valve, the one-dimensional overflow valve is connected with the one-dimensional fourth electromagnetic directional valve, the one-dimensional first oil supplementing one-way valve, the one-dimensional second oil supplementing one-way valve and the one-dimensional hydraulic control directional valve, and the one-dimensional three-position four-way directional valve is connected with the one-dimensional first electromagnetic directional valve, the one-dimensional second electromagnetic directional valve, the one-dimensional shuttle valve, the one-dimensional.
The one-dimensional first one-way throttle valve and the one-dimensional second one-way throttle valve in the one-dimensional adjustable damping module are connected in parallel, the one-dimensional third one-way throttle valve and the one-dimensional fourth one-way throttle valve are connected in parallel, and the one-dimensional first electromagnetic directional valve, the one-dimensional second electromagnetic directional valve and the one-dimensional fourth one-way throttle valve are switched to be combined into different damping states.
The two-dimensional adjustable damping module mainly comprises a first two-dimensional electromagnetic directional valve, a first two-dimensional one-way throttle valve, a second two-dimensional one-way throttle valve, a third two-dimensional one-way throttle valve, a fourth two-dimensional one-way throttle valve, a second two-dimensional electromagnetic directional valve, a third two-dimensional electromagnetic directional valve, a two-dimensional back pressure valve, a two-dimensional shuttle valve, a fourth two-dimensional electromagnetic directional valve, a two-dimensional hydraulic control one-way valve, a two-dimensional overflow valve, a first two-dimensional oil supplementing one-way valve, a second two-dimensional oil supplementing one-way valve, a two-dimensional hydraulic control directional valve, a first two-dimensional safety valve, a second two-dimensional safety valve, a three-dimensional four-way directional valve and a fifth two-dimensional electromagnetic directional valve, wherein each.
The heavy-duty shuttle valve, the one-dimensional shuttle valve and the two-dimensional shuttle valve are used in a combined mode to lead out the highest pressure in the damping system, the valve core position of the three-position four-way hydraulic control reversing valve is determined by the highest pressure led out by the one-dimensional shuttle valve and the two-dimensional shuttle valve, and the three-position four-way hydraulic control reversing valve controls the on-off of the one-dimensional hydraulic control reversing valve and the two-dimensional hydraulic control reversing valve to enable the energy accumulator to be communicated with the damping module with higher.
And the one-dimensional fourth electromagnetic directional valve and the two-dimensional fourth electromagnetic directional valve control the connectivity of the one-dimensional adjustable damping module and the two-dimensional adjustable damping module and the energy accumulator, and when the one-dimensional fourth electromagnetic directional valve and the two-dimensional fourth electromagnetic directional valve are electrified, the energy accumulator is communicated with the low-pressure side of the one-dimensional adjustable damping module and the low-pressure side of the two-dimensional adjustable damping module.
The one-dimensional fifth electromagnetic directional valve and the two-dimensional fifth electromagnetic directional valve are used for adjusting the positions of the hydraulic cylinder and the hydraulic motor.
The invention has the beneficial effects that: the invention provides a hydraulic damping system with variable and expandable damping, recyclable use and high load adaptability, and the starting position of a hydraulic actuator entering a damping state can be flexibly adjusted according to the requirement; the scheme that four one-way throttle valves with adjustable valve port opening degrees are connected in parallel in pairs and two electromagnetic directional valves are switched is adopted, the purpose of adjusting hydraulic damping is achieved, and adaptive matching of load and damping can be achieved without changing the state of a hydraulic loop according to actual application requirements; by adopting the modularized adjustable damping modules with different dimensions, the expansion application of the multidimensional adjustable damping module can be realized, the expansion of the damping modules with all six degrees of freedom can be realized at most, and each expanded damping module can be associated with a hydraulic control reversing valve through a shuttle valve network, so that the energy accumulator can supplement oil to the damping module with the highest working pressure; the energy accumulator is connected with the low-pressure sides of all the damping modules by adopting a shuttle valve network and a fourth electromagnetic reversing valve in the damping modules, so that air suction is prevented, and the load adaptability of the damping modules is improved, thereby widening the load power spectrum range of the damping modules; the starting position of a hydraulic actuator (a hydraulic cylinder, a hydraulic motor and the like) is adjusted by adopting a fifth electromagnetic reversing valve in the damping module, so that the hydraulic system can start a damping mode at any required place, and the use flexibility of the hydraulic damping system is improved; the design is novel and unique, the same type of technical scheme is not seen at home and abroad, and the design is easy to imitate and master after being disclosed.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Description of reference numerals: the hydraulic control system comprises a hydraulic pump 1, a pump outlet overflow valve 2, a three-position four-way hydraulic control reversing valve 3, a heavy-load shuttle valve 4, a two-position two-way hydraulic control reversing valve 5, a liquid-filled electromagnetic reversing valve 6, an accumulator safety valve 7, an accumulator pressure reducing valve 8, a liquid-filled pressure reducing valve 9, a one-dimensional adjustable damping module 10, a one-dimensional first electromagnetic reversing valve 101, a one-dimensional first one-way throttle valve 102, a one-dimensional second one-way throttle valve 103, a one-dimensional third one-way throttle valve 104, a one-dimensional fourth one-way throttle valve 105, a one-dimensional second electromagnetic reversing valve 106, a one-dimensional third electromagnetic reversing valve 107, a one-dimensional back pressure valve 108, a one-dimensional shuttle valve 109, a one-dimensional fourth electromagnetic reversing valve 1010, a one-dimensional hydraulic control one-way valve 1011, a one-dimensional overflow valve, a one-dimensional first oil supplementing one-way valve 1013, The damping device comprises a two-dimensional adjustable damping module 11, a two-dimensional first electromagnetic directional valve 111, a two-dimensional first one-way throttle valve 112, a two-dimensional second one-way throttle valve 113, a two-dimensional third one-way throttle valve 114, a two-dimensional fourth one-way throttle valve 115, a two-dimensional second electromagnetic directional valve 116, a two-dimensional third electromagnetic directional valve 117, a two-dimensional back pressure valve 118, a two-dimensional shuttle valve 119, a two-dimensional fourth electromagnetic directional valve 1110, a two-dimensional hydraulic control one-way valve 1111, a two-dimensional overflow valve 1112, a two-dimensional first oil supplementing one-way valve 1113, a two-dimensional second oil supplementing one-way valve 1114, a two-dimensional hydraulic control directional valve 1115, a two-dimensional first safety valve 1116, a two-dimensional second safety valve 1117.
Detailed Description
The invention will be described in detail below with reference to the following drawings:
example (b): as shown in the attached drawing, the multi-degree-of-freedom hydraulic damping system mainly comprises a hydraulic pump 1, a pump outlet overflow valve 2, a three-position four-way hydraulic control reversing valve 3, a heavy-load shuttle valve 4, a two-position two-way hydraulic control reversing valve 5, a liquid-filled electromagnetic reversing valve 6, an accumulator safety valve 7, an accumulator pressure reducing valve 8, a liquid-filled pressure reducing valve 9, a one-dimensional adjustable damping module 10, a two-dimensional adjustable damping module 11, a hydraulic cylinder 12, an accumulator 13 and a hydraulic motor 14, wherein the hydraulic pump 1 is connected with the pump outlet overflow valve 2, the one-dimensional adjustable damping module 10, the two-dimensional adjustable damping module 11 and the liquid-filled electromagnetic reversing valve 6, the liquid-filled electromagnetic reversing valve 6 is connected with the liquid-filled pressure reducing valve 9, the accumulator 13 is connected with the liquid-filled pressure reducing valve 9, the accumulator pressure reducing valve 8 and the, The one-dimensional adjustable damping module 10 and the two-dimensional adjustable damping module 11 are connected, the heavy-duty shuttle valve 4 is connected with the one-dimensional adjustable damping module 10, the two-dimensional adjustable damping module 11 and the three-position four-way hydraulic control reversing valve 3, the three-position four-way hydraulic control reversing valve 3 is connected with the one-dimensional adjustable damping module 10 and the two-dimensional adjustable damping module 11, the hydraulic cylinder 12 is connected with the one-dimensional adjustable damping module 10, and the hydraulic motor 14 is connected with the two-dimensional adjustable damping module 11.
The one-dimensional adjustable damping module 10 mainly includes a one-dimensional first electromagnetic directional valve 101, a one-dimensional first one-way throttle valve 102, a one-dimensional second one-way throttle valve 103, a one-dimensional third one-way throttle valve 104, a one-dimensional fourth one-way throttle valve 105, a one-dimensional second electromagnetic directional valve 106, a one-dimensional third electromagnetic directional valve 107, a one-dimensional back pressure valve 108, a one-dimensional shuttle valve 109, a one-dimensional fourth electromagnetic directional valve 1010, a one-dimensional hydraulic control one-way valve 1011, a one-dimensional overflow valve 1012, a one-dimensional first oil-supplementing one-way valve 1013, a one-dimensional second oil-supplementing one-way valve 1014, a one-dimensional hydraulic control one-way valve 1015, a one-dimensional first safety valve 1016, a one-dimensional second safety valve 1017, a one-dimensional three-position four-way directional valve 1018, a one-dimensional fifth electromagnetic directional valve, the one-dimensional first electromagnetic directional valve 101 is connected with the one-dimensional first one, The one-dimensional fourth one-way throttle valve 105 and the one-dimensional second safety valve 1017 are connected, the one-dimensional third electromagnetic directional valve 107 is connected with the one-dimensional first one-way throttle valve 102, the one-dimensional second one-way throttle valve 103, the one-dimensional third one-way throttle valve 104, the one-dimensional fourth one-way throttle valve 105 and the one-dimensional back pressure valve 108, the one-dimensional shuttle valve 109 is connected with the one-dimensional fourth electromagnetic directional valve 1010 and the one-dimensional hydraulic control one-way valve 1011, the one-dimensional overflow valve 1012 is connected with the one-dimensional fourth electromagnetic directional valve 1010, the one-dimensional first oil supplementing one-way valve 1013, the one-dimensional second oil supplementing one-way valve 1014 and the one-dimensional hydraulic control directional valve 1015, and the one-dimensional three-position four-way directional valve 1018 is connected with the one-dimensional first electromagnetic directional valve 101, the one-dimensional second electromagnetic directional valve 106, the one-dimensional shuttle valve 109. All the components are arranged on one valve block to form the one-dimensional adjustable damping module 10. The one-dimensional adjustable damping module 10 has only a pipeline interface to the outside, and can conveniently realize unlimited expansion application, such as the two-dimensional adjustable damping module 11. The one-dimensional first one-way throttle valve 102 and the one-dimensional second one-way throttle valve 103 in the one-dimensional adjustable damping module 10 are connected in parallel, the one-dimensional third one-way throttle valve 104 and the one-dimensional fourth one-way throttle valve 105 are connected in parallel, and the damping characteristic is variable by switching the combination of the one-dimensional first electromagnetic directional valve 101, the one-dimensional second electromagnetic directional valve 106 and adjusting the opening of the one-way throttle valves to different damping states.
The two-dimensional adjustable damping module 11 mainly comprises a dimensional first electromagnetic directional valve 111, a two-dimensional first one-way throttle valve 112, a two-dimensional second one-way throttle valve 113, a two-dimensional third one-way throttle valve 114, a two-dimensional fourth one-way throttle valve 115, a two-dimensional second electromagnetic directional valve 116, a two-dimensional third electromagnetic directional valve 117, a two-dimensional back pressure valve 118, a two-dimensional shuttle valve 119, a two-dimensional fourth electromagnetic directional valve 1110, a two-dimensional hydraulic control one-way valve 1111, a two-dimensional overflow valve 1112, a two-dimensional first oil supplementing one-way valve 1113, a two-dimensional second oil supplementing one-way valve 1114, a two-dimensional hydraulic control directional valve 1115, a two-dimensional first safety valve 1116, a two-dimensional second safety valve 1117, a two-dimensional three-position four-way directional valve 1118 and a two-dimensional fifth electromagnetic directional valve, wherein each component.
The heavy-load shuttle valve 4, the one-dimensional shuttle valve 109 and the two-dimensional shuttle valve 119 are used in a combined mode to lead out the highest pressure in the damping system, the valve core position of the three-position four-way hydraulic control reversing valve 3 is determined by the highest pressure led out by the one-dimensional shuttle valve 109 and the two-dimensional shuttle valve 119, the three-position four-way hydraulic control reversing valve 3 controls the on and off of the one-dimensional hydraulic control reversing valve 1015 and the two-dimensional hydraulic control reversing valve 1115 to enable the energy accumulator 13 to be communicated with the damping module with high working pressure, oil supplement of the energy accumulator 13 can improve the air suction prevention capacity of the damping module, and therefore the load power spectrum.
The one-dimensional fourth electromagnetic directional valve 1010 and the two-dimensional fourth electromagnetic directional valve 1110 control the connectivity between the one-dimensional adjustable damping module 10 and the two-dimensional adjustable damping module 11 and the energy accumulator 13, and when the one-dimensional fourth electromagnetic directional valve 1010 and the two-dimensional fourth electromagnetic directional valve 1110 are powered on, the energy accumulator 13 is communicated with the low-pressure side of the one-dimensional adjustable damping module 10 and the two-dimensional adjustable damping module 11, so that the air suction prevention capacity of the damping module is improved. The one-dimensional fifth electromagnetic directional valve and the two-dimensional fifth electromagnetic directional valve are used for adjusting the positions of the hydraulic cylinder 12 and the hydraulic motor 14, so that the hydraulic cylinder 12 and the hydraulic motor 14 can enter a damping circuit state from a required position. The outlet of the hydraulic pump 1 is connected with an outlet overflow valve 2 in parallel for adjusting the outlet pressure of the hydraulic pump 1. The hydraulic pump 1 drives the hydraulic cylinder 12 and the hydraulic motor 14 to adjust the position through the one-dimensional three-position four-way reversing valve 1018 and the two-dimensional three-position four-way reversing valve 1118, and the design that any position of the hydraulic actuator enters a damping mode is achieved. When the hydraulic cylinder 12 and the hydraulic motor 14 adjust positions, the one-dimensional first electromagnetic directional valve 101, the one-dimensional second electromagnetic directional valve 106, the one-dimensional third electromagnetic directional valve 107, and the one-dimensional fourth electromagnetic directional valve 1010 in the one-dimensional adjustable damping module 10 are all in a power-off state.
The hydraulic pump 1 is used for filling liquid into the energy accumulator 13, the liquid filling electromagnetic directional valve 6 is used for controlling the on-off of a liquid path for filling liquid into the energy accumulator, the liquid filling pressure reducing valve 9 is used for controlling the liquid filling pressure of the energy accumulator, different liquid filling strategies can be adopted according to the pressure change of the energy accumulator 13, the energy accumulator 13 can be repeatedly filled with liquid, and the recycling of the hydraulic damping system can be ensured. The accumulator safety valve 7 is used for ensuring that the accumulator 13 is at safe working pressure, and the accumulator pressure reducing valve 8 is used for controlling the external oil supplementing pressure of the accumulator 13, so that the oil supplementing pressure can be adjusted.
The function of supplementing oil to a damping circuit with higher working pressure by the energy accumulator 13 is realized by adopting a three-position four-way hydraulic control reversing valve 3, a heavy-duty shuttle valve 4, a two-position two-way hydraulic control reversing valve 5, a one-dimensional shuttle valve 109, a two-dimensional shuttle valve 119, a one-dimensional hydraulic control one-way valve 1011, a two-dimensional hydraulic control one-way valve 1111, a one-dimensional hydraulic control reversing valve 1015 and a two-dimensional hydraulic control reversing valve 1115, the air suction prevention capacity of the hydraulic damping system is enhanced, and the power spectrum of the hydraulic damping system. The specific implementation process is as follows: after the one-dimensional adjustable damping module 10 and the two-dimensional adjustable damping module 11 enter a damping working state, the one-dimensional shuttle valve 109, the two-dimensional shuttle valve 119 and the heavy-duty shuttle valve 4 feed back the highest working pressure to the control cavity of the two-position two-way hydraulic control reversing valve 5, and the two-position two-way hydraulic control reversing valve 5 is conducted. The outlet pressures of the one-dimensional shuttle valve 109 and the two-dimensional shuttle valve 119 are respectively introduced into the control cavities on the two sides of the three-position four-way hydraulic control reversing valve 3, and the higher pressure determines the conduction state of the three-position four-way hydraulic control reversing valve 3. And after the three-position four-way hydraulic control reversing valve 3 is switched on, the switching-on state of the one-dimensional hydraulic control one-way valve 1011 or the two-dimensional hydraulic control one-way valve 1111 is determined, the switching-on state of the one-dimensional hydraulic control reversing valve 1015 or the two-dimensional hydraulic control reversing valve 1115 is further determined, and the oil supplementing direction of the energy accumulator 13 is finally determined. The two-dimensional damping adjustable module 11 is also the same.
A damping loop with variable damping characteristics is formed by a one-dimensional first electromagnetic directional valve 101, a one-dimensional first one-way throttle valve 102, a one-dimensional second one-way throttle valve 103, a one-dimensional third one-way throttle valve 104, a one-dimensional fourth one-way throttle valve 105, a one-dimensional second electromagnetic directional valve 106, a one-dimensional third electromagnetic directional valve 107 and a one-dimensional back pressure valve 108. When the one-dimensional first electromagnetic directional valve 101 and the one-dimensional second electromagnetic directional valve 106 are not powered and the one-dimensional third electromagnetic directional valve 107 is powered, the one-dimensional first one-way throttle valve 102 or the one-dimensional third one-way throttle valve 104 forms loop damping. When the one-dimensional first electromagnetic directional valve 101 and the one-dimensional second electromagnetic directional valve 106 are both powered and the one-dimensional third electromagnetic directional valve 107 is powered, the one-dimensional first one-way throttle valve 102 and the one-dimensional second one-way throttle valve 103 form parallel damping, or the one-dimensional third one-way throttle valve 104 and the one-dimensional fourth one-way throttle valve 105 form parallel damping. The two-dimensional damping adjustable module 11 is also the same.
A one-dimensional third electromagnetic directional valve 107 is used for controlling whether the one-dimensional damping adjustable module 10 enters a damping state, a one-dimensional back pressure valve 108 is used for controlling the lowest working pressure of a damping loop, and a two-dimensional damping adjustable module 11 is used; the one-dimensional fourth electromagnetic directional valve 1010 is used for controlling whether the energy accumulator 13 is communicated with the low-pressure side of the one-dimensional damping adjustable module 10 (communicated when power is supplied), when the one-dimensional fourth electromagnetic directional valve 1010 is powered, the one-dimensional overflow valve 1012 controls the pressure of oil supply of the one-dimensional shuttle valve 109 to the low-pressure side of the damping loop, and the two-dimensional damping adjustable module 11 is also used; a one-dimensional first oil supplementing one-way valve 1013 and a one-dimensional second oil supplementing one-way valve 1014 are adopted to supplement oil to the low pressure side of the damping circuit; the maximum working pressure of the limit damping loop is in a safety range by adopting a one-dimensional first safety valve 1016 and a one-dimensional second safety valve 1017; the hydraulic cylinder 12 may be a double-rod double-acting cylinder, a single-rod double-acting cylinder, or a plunger cylinder.
It should be understood that equivalent substitutions and changes to the technical solution and the inventive concept of the present invention should be made by those skilled in the art to the protection scope of the appended claims.
Claims (7)
1. A multi-degree-of-freedom hydraulic damping system is characterized in that: mainly comprises a hydraulic pump (1), a pump outlet overflow valve (2), a three-position four-way hydraulic control reversing valve (3), a heavy-duty shuttle valve (4), a two-position two-way hydraulic control reversing valve (5), a liquid filling electromagnetic reversing valve (6), an energy accumulator safety valve (7), an energy accumulator pressure reducing valve (8), a liquid filling pressure reducing valve (9), a one-dimensional adjustable damping module (10), a two-dimensional adjustable damping module (11), a hydraulic cylinder (12), an energy accumulator (13) and a hydraulic motor (14), wherein the hydraulic pump (1) is connected with the pump outlet overflow valve (2), the one-dimensional adjustable damping module (10), the two-dimensional adjustable damping module (11) and the liquid filling electromagnetic reversing valve (6), the liquid filling electromagnetic reversing valve (6) is connected with the liquid filling pressure reducing valve (9), the energy accumulator (13) is connected with the liquid filling pressure reducing valve (9), the energy accumulator pressure reducing valve (8) and the energy, the two-position two-way hydraulic control reversing valve (5) is connected with the heavy-load shuttle valve (4), the one-dimensional adjustable damping module (10) and the two-dimensional adjustable damping module (11), the heavy-load shuttle valve (4) is connected with the one-dimensional adjustable damping module (10), the two-dimensional adjustable damping module (11) and the three-position four-way hydraulic control reversing valve (3), the three-position four-way hydraulic control reversing valve (3) is connected with the one-dimensional adjustable damping module (10) and the two-dimensional adjustable damping module (11), the hydraulic cylinder (12) is connected with the one-dimensional adjustable damping module (10), and the hydraulic motor (14) is connected with the two-dimensional adjustable damping.
2. The multiple degree of freedom hydraulic damping system of claim 1, characterized by: the one-dimensional adjustable damping module (10) mainly comprises a one-dimensional first electromagnetic directional valve (101), a one-dimensional first one-way throttle valve (102), a one-dimensional second one-way throttle valve (103), a one-dimensional third one-way throttle valve (104), a one-dimensional fourth one-way throttle valve (105), a one-dimensional second electromagnetic directional valve (106), a one-dimensional third electromagnetic directional valve (107), a one-dimensional back pressure valve (108), a one-dimensional shuttle valve (109), a one-dimensional fourth electromagnetic directional valve (1010), a one-dimensional hydraulic control one-way valve (1011), a one-dimensional overflow valve (1012), a one-dimensional first oil supplementing one-way valve (1013), a one-dimensional second oil supplementing one-way valve (1014), a one-dimensional hydraulic control directional valve (1015), a one-dimensional first safety valve (1016), a one-dimensional second safety valve (1017), a three-dimensional four-way directional valve (1018), a one-dimensional fifth electromagnetic directional valve, a one, The one-dimensional second one-way throttle valve (103) and the one-dimensional first safety valve (1016) are connected, the one-dimensional second electromagnetic directional valve (106) is connected with the one-dimensional third one-way throttle valve (104), the one-dimensional fourth one-way throttle valve (105) and the one-dimensional second safety valve (1017), the one-dimensional third electromagnetic directional valve (107) is connected with the one-dimensional first one-way throttle valve (102), the one-dimensional second one-way throttle valve (103), the one-dimensional third one-way throttle valve (104), the one-dimensional fourth one-way throttle valve (105) and the one-dimensional back pressure valve (108), the one-dimensional shuttle valve (109) is connected with the one-dimensional fourth electromagnetic directional valve (1010) and the one-dimensional pilot-controlled check valve (1011), the one-dimensional overflow valve (1012) is connected with the one-dimensional fourth electromagnetic directional valve (1010), the one-dimensional first oil-supplementing check valve (1013), the one-dimensional second oil-supplementing check valve (1014) and, The one-dimensional second electromagnetic directional valve (106), the one-dimensional shuttle valve (109), the one-dimensional first oil supplementing one-way valve (1013), the first second oil supplementing one-way valve (1014), the one-dimensional first safety valve (1016) and the one-dimensional second safety valve (1017) are connected.
3. The multiple degree of freedom hydraulic damping system according to claim 1 or 2, characterized in that: a one-dimensional first one-way throttle valve (102) and a one-dimensional second one-way throttle valve (103) in the one-dimensional adjustable damping module (10) are connected in parallel, a one-dimensional third one-way throttle valve (104) and a one-dimensional fourth one-way throttle valve (105) are connected in parallel, and different damping states are formed by switching a one-dimensional first electromagnetic directional valve (101), a one-dimensional second electromagnetic directional valve (106) and adjusting the opening of the one-dimensional throttle valves.
4. The multiple degree of freedom hydraulic damping system of claim 1, characterized by: the two-dimensional adjustable damping module (11) mainly comprises a dimensional first electromagnetic directional valve (111), a two-dimensional first one-way throttle valve (112), a two-dimensional second one-way throttle valve (113), a two-dimensional third one-way throttle valve (114), a two-dimensional fourth one-way throttle valve (115), a two-dimensional second electromagnetic directional valve (116), a two-dimensional third electromagnetic directional valve (117), a two-dimensional back pressure valve (118), a two-dimensional shuttle valve (119), a two-dimensional fourth electromagnetic directional valve (1110), a two-dimensional hydraulic control one-way valve (1111), a two-dimensional overflow valve (1112), a two-dimensional first oil supplementing one-way valve (1113), a two-dimensional second oil supplementing one-way valve (1114), a two-dimensional hydraulic control directional valve (1115), a two-dimensional first safety valve (1116), a two-dimensional second safety valve (1117), a three-position four-way directional valve (1118) and a two-dimensional fifth electromagnetic directional valve, wherein the two-dimensional adjustable damping module (11) .
5. The multiple degree of freedom hydraulic damping system of claim 2, characterized by: the heavy-duty shuttle valve (4), the one-dimensional shuttle valve (109) and the two-dimensional shuttle valve (119) are used in a combined mode to lead out the highest pressure in the damping system, the valve core position of the three-position four-way hydraulic control reversing valve (3) is determined by the highest pressure led out by the one-dimensional shuttle valve (109) and the two-dimensional shuttle valve (119), and the three-position four-way hydraulic control reversing valve (3) controls the on and off of the one-dimensional hydraulic control reversing valve (1015) and the two-dimensional hydraulic control reversing valve (1115) to enable the energy accumulator (13) to be communicated with the damping module with the.
6. The multiple degree of freedom hydraulic damping system of claim 2, characterized by: the one-dimensional fourth electromagnetic directional valve (1010) and the two-dimensional fourth electromagnetic directional valve (1110) control the connectivity of the one-dimensional adjustable damping module (10) and the two-dimensional adjustable damping module (11) and the energy accumulator (13), and when the one-dimensional fourth electromagnetic directional valve (1010) and the two-dimensional fourth electromagnetic directional valve (1110) are powered on, the energy accumulator (13) is communicated with the low-pressure side of the one-dimensional adjustable damping module (10) and the low-pressure side of the two-dimensional adjustable damping module (11).
7. The multiple degree of freedom hydraulic damping system of claim 2 or 4, characterized by: the one-dimensional fifth electromagnetic directional valve and the two-dimensional fifth electromagnetic directional valve are used for adjusting the positions of the hydraulic cylinder (12) and the hydraulic motor (14).
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